This example writes goal positions to two Dynamixels simultaneously and repeats to read each present positions until Dynamixels stop moving. The funtions that are related with the Syncwrite handle the number of items that are near to each other in the Dynamixel control table on multiple Dynamixels, such as the goal position and the goal velocity.

Available Dynamixel

All series using protocol 1.0

Sample code Parts

/*
* BulkRead.cs
*
* Created on: 2016. 6. 20.
* Author: Ryu Woon Jung (Leon)
*///// ********* Bulk Read Example *********////// Available Dynamixel model on this example : MX or X series set to Protocol 1.0// This example is designed for using two Dynamixel MX-28, and an USB2DYNAMIXEL.// To use another Dynamixel model, such as X series, see their details in E-Manual(support.robotis.com) and edit below variables yourself.// Be sure that Dynamixel MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000)//usingSystem;usingdynamixel_sdk;namespacebulk_read{classBulkRead{// Control table addresspublicconstintADDR_MX_TORQUE_ENABLE=24;// Control table address is different in Dynamixel modelpublicconstintADDR_MX_GOAL_POSITION=30;publicconstintADDR_MX_PRESENT_POSITION=36;publicconstintADDR_MX_MOVING=46;// Data Byte LengthpublicconstintLEN_MX_GOAL_POSITION=2;publicconstintLEN_MX_PRESENT_POSITION=2;publicconstintLEN_MX_MOVING=1;// Protocol versionpublicconstintPROTOCOL_VERSION=1;// See which protocol version is used in the Dynamixel// Default settingpublicconstintDXL1_ID=1;// Dynamixel ID: 1publicconstintDXL2_ID=2;// Dynamixel ID: 2publicconstintBAUDRATE=1000000;publicconststringDEVICENAME="/dev/ttyUSB0";// Check which port is being used on your controller// ex) "COM1" Linux: "/dev/ttyUSB0"publicconstintTORQUE_ENABLE=1;// Value for enabling the torquepublicconstintTORQUE_DISABLE=0;// Value for disabling the torquepublicconstintDXL_MINIMUM_POSITION_VALUE=100;// Dynamixel will rotate between this valuepublicconstintDXL_MAXIMUM_POSITION_VALUE=4000;// and this value (note that the Dynamixel would not move when the position value is out of movable range. Check e-manual about the range of the Dynamixel you use.)publicconstintDXL_MOVING_STATUS_THRESHOLD=10;// Dynamixel moving status thresholdpublicconstbyteESC_ASCII_VALUE=0x1b;publicconstintCOMM_SUCCESS=0;// Communication Success result valuepublicconstintCOMM_TX_FAIL=-1001;// Communication Tx FailedstaticvoidMain(string[]args){// Initialize PortHandler Structs// Set the port path// Get methods and members of PortHandlerLinux or PortHandlerWindowsintport_num=dynamixel.portHandler(DEVICENAME);// Initialize PacketHandler Structsdynamixel.packetHandler();// Initialize Groupbulkread Structsintgroup_num=dynamixel.groupBulkRead(port_num,PROTOCOL_VERSION);intindex=0;intdxl_comm_result=COMM_TX_FAIL;// Communication resultbooldxl_addparam_result=false;// AddParam resultbooldxl_getdata_result=false;// GetParam resultUInt16[]dxl_goal_position=newUInt16[2]{DXL_MINIMUM_POSITION_VALUE,DXL_MAXIMUM_POSITION_VALUE};// Goal positionbytedxl_error=0;// Dynamixel errorUInt16dxl1_present_position=0;// Present positionbytedxl2_moving=0;// Dynamixel moving status// Open portif(dynamixel.openPort(port_num)){Console.WriteLine("Succeeded to open the port!");}else{Console.WriteLine("Failed to open the port!");Console.WriteLine("Press any key to terminate...");Console.ReadKey();return;}// Set port baudrateif(dynamixel.setBaudRate(port_num,BAUDRATE)){Console.WriteLine("Succeeded to change the baudrate!");}else{Console.WriteLine("Failed to change the baudrate!");Console.WriteLine("Press any key to terminate...");Console.ReadKey();return;}// Enable Dynamixel#1 Torquedynamixel.write1ByteTxRx(port_num,PROTOCOL_VERSION,DXL1_ID,ADDR_MX_TORQUE_ENABLE,TORQUE_ENABLE);if((dxl_comm_result=dynamixel.getLastTxRxResult(port_num,PROTOCOL_VERSION))!=COMM_SUCCESS){dynamixel.printTxRxResult(PROTOCOL_VERSION,dxl_comm_result);}elseif((dxl_error=dynamixel.getLastRxPacketError(port_num,PROTOCOL_VERSION))!=0){dynamixel.printRxPacketError(PROTOCOL_VERSION,dxl_error);}else{Console.WriteLine("Dynamixel{0} has been successfully connected ",DXL1_ID);}// Enable Dynamixel#2 Torquedynamixel.write1ByteTxRx(port_num,PROTOCOL_VERSION,DXL2_ID,ADDR_MX_TORQUE_ENABLE,TORQUE_ENABLE);if((dxl_comm_result=dynamixel.getLastTxRxResult(port_num,PROTOCOL_VERSION))!=COMM_SUCCESS){dynamixel.printTxRxResult(PROTOCOL_VERSION,dxl_comm_result);}elseif((dxl_error=dynamixel.getLastRxPacketError(port_num,PROTOCOL_VERSION))!=0){dynamixel.printRxPacketError(PROTOCOL_VERSION,dxl_error);}else{Console.WriteLine("Dynamixel{0} has been successfully connected ",DXL1_ID);}// Add parameter storage for Dynamixel#1 present position valuedxl_addparam_result=dynamixel.groupBulkReadAddParam(group_num,DXL1_ID,ADDR_MX_PRESENT_POSITION,LEN_MX_PRESENT_POSITION);if(dxl_addparam_result!=true){Console.WriteLine("[ID: {0}] groupBulkRead addparam failed",DXL1_ID);return;}// Add parameter storage for Dynamixel#2 present moving valuedxl_addparam_result=dynamixel.groupBulkReadAddParam(group_num,DXL2_ID,ADDR_MX_MOVING,LEN_MX_MOVING);if(dxl_addparam_result!=true){Console.WriteLine("[ID: {0}] groupBulkRead addparam failed",DXL2_ID);return;}while(true){Console.WriteLine("Press any key to continue! (or press ESC to quit!)");if(Console.ReadKey().KeyChar==ESC_ASCII_VALUE)break;// Write Dynamixel#1 goal positiondynamixel.write2ByteTxRx(port_num,PROTOCOL_VERSION,DXL1_ID,ADDR_MX_GOAL_POSITION,dxl_goal_position[index]);if((dxl_comm_result=dynamixel.getLastTxRxResult(port_num,PROTOCOL_VERSION))!=COMM_SUCCESS){dynamixel.printTxRxResult(PROTOCOL_VERSION,dxl_comm_result);}elseif((dxl_error=dynamixel.getLastRxPacketError(port_num,PROTOCOL_VERSION))!=0){dynamixel.printRxPacketError(PROTOCOL_VERSION,dxl_error);}// Write Dynamixel#2 goal positiondynamixel.write2ByteTxRx(port_num,PROTOCOL_VERSION,DXL2_ID,ADDR_MX_GOAL_POSITION,dxl_goal_position[index]);if((dxl_comm_result=dynamixel.getLastTxRxResult(port_num,PROTOCOL_VERSION))!=COMM_SUCCESS){dynamixel.printTxRxResult(PROTOCOL_VERSION,dxl_comm_result);}elseif((dxl_error=dynamixel.getLastRxPacketError(port_num,PROTOCOL_VERSION))!=0){dynamixel.printRxPacketError(PROTOCOL_VERSION,dxl_error);}do{// Bulkread present position and moving statusdynamixel.groupBulkReadTxRxPacket(group_num);if((dxl_comm_result=dynamixel.getLastTxRxResult(port_num,PROTOCOL_VERSION))!=COMM_SUCCESS)dynamixel.printTxRxResult(PROTOCOL_VERSION,dxl_comm_result);dxl_getdata_result=dynamixel.groupBulkReadIsAvailable(group_num,DXL1_ID,ADDR_MX_PRESENT_POSITION,LEN_MX_PRESENT_POSITION);if(dxl_getdata_result!=true){Console.WriteLine("[ID: {0}] groupBulkRead getdata failed",DXL1_ID);return;}dxl_getdata_result=dynamixel.groupBulkReadIsAvailable(group_num,DXL2_ID,ADDR_MX_MOVING,LEN_MX_MOVING);if(dxl_getdata_result!=true){Console.WriteLine("[ID: {0}] groupBulkRead getdata failed",DXL2_ID);return;}// Get Dynamixel#1 present position valuedxl1_present_position=(UInt16)dynamixel.groupBulkReadGetData(group_num,DXL1_ID,ADDR_MX_PRESENT_POSITION,LEN_MX_PRESENT_POSITION);// Get Dynamixel#2 moving status valuedxl2_moving=(byte)dynamixel.groupBulkReadGetData(group_num,DXL2_ID,ADDR_MX_MOVING,LEN_MX_MOVING);Console.WriteLine("[ID: {0}] Present Position : {1} [ID: {2}] Is Moving : {3}",DXL1_ID,dxl1_present_position,DXL2_ID,dxl2_moving);}while(Math.Abs(dxl_goal_position[index]-dxl1_present_position)>DXL_MOVING_STATUS_THRESHOLD);// Change goal positionif(index==0){index=1;}else{index=0;}}// Disable Dynamixel#1 Torquedynamixel.write1ByteTxRx(port_num,PROTOCOL_VERSION,DXL1_ID,ADDR_MX_TORQUE_ENABLE,TORQUE_DISABLE);if((dxl_comm_result=dynamixel.getLastTxRxResult(port_num,PROTOCOL_VERSION))!=COMM_SUCCESS){dynamixel.printTxRxResult(PROTOCOL_VERSION,dxl_comm_result);}elseif((dxl_error=dynamixel.getLastRxPacketError(port_num,PROTOCOL_VERSION))!=0){dynamixel.printRxPacketError(PROTOCOL_VERSION,dxl_error);}// Disable Dynamixel#2 Torquedynamixel.write1ByteTxRx(port_num,PROTOCOL_VERSION,DXL2_ID,ADDR_MX_TORQUE_ENABLE,TORQUE_DISABLE);if((dxl_comm_result=dynamixel.getLastTxRxResult(port_num,PROTOCOL_VERSION))!=COMM_SUCCESS){dynamixel.printTxRxResult(PROTOCOL_VERSION,dxl_comm_result);}elseif((dxl_error=dynamixel.getLastRxPacketError(port_num,PROTOCOL_VERSION))!=0){dynamixel.printRxPacketError(PROTOCOL_VERSION,dxl_error);}// Close portdynamixel.closePort(port_num);return;}}}

Details

usingSystem;

The functions Math.Abs(), Console.* for I/O, are in the example code, and it uses System namespace.

usingdynamixel_sdk;

All libraries of Dynamixel SDK are wrapped into the dynamixel_sdk namespace.

// Control table addresspublicconstintADDR_MX_TORQUE_ENABLE=24;// Control table address is different in Dynamixel modelpublicconstintADDR_MX_GOAL_POSITION=30;publicconstintADDR_MX_PRESENT_POSITION=36;publicconstintADDR_MX_MOVING=46;// Data Byte LengthpublicconstintLEN_MX_GOAL_POSITION=2;publicconstintLEN_MX_PRESENT_POSITION=2;publicconstintLEN_MX_MOVING=1;

Dynamixel series have their own control tables: Addresses and Byte Length in each items. To control one of the items, its address (and length if necessary) is required. Find your requirements in http://support.robotis.com/.

// Protocol versionpublicconstintPROTOCOL_VERSION=1;// See which protocol version is used in the Dynamixel

Dynamixel uses either or both protocols: Protocol 1.0 and Protocol 2.0. Choose one of the Protocol which is appropriate in the Dynamixel.

// Default settingpublicconstintDXL1_ID=1;// Dynamixel ID: 1publicconstintDXL2_ID=2;// Dynamixel ID: 2publicconstintBAUDRATE=1000000;publicconststringDEVICENAME="/dev/ttyUSB0";// Check which port is being used on your controller// ex) "COM1" Linux: "/dev/ttyUSB0"publicconstintTORQUE_ENABLE=1;// Value for enabling the torquepublicconstintTORQUE_DISABLE=0;// Value for disabling the torquepublicconstintDXL_MINIMUM_POSITION_VALUE=100;// Dynamixel will rotate between this valuepublicconstintDXL_MAXIMUM_POSITION_VALUE=4000;// and this value (note that the Dynamixel would not move when the position value is out of movable range. Check e-manual about the range of the Dynamixel you use.)publicconstintDXL_MOVING_STATUS_THRESHOLD=10;// Dynamixel moving status thresholdpublicconstbyteESC_ASCII_VALUE=0x1b;

Here we set some variables to let you freely change them and use them to run the example code.

As the document previously said in previous chapter, customize Dynamixel control table items, such as DXL_ID number, communication BAUDRATE, and the DEVICENAME, on your own terms of needs. In particular, BAUDRATE and DEVICENAME have systematical dependencies on your controller, so make clear what kind of communication method you will use.

The example uses two Dynamixels DXL1_ID, DXL2_ID connected with the port DEVICENAME.

Dynamixel basically needs the TORQUE_ENABLE to be rotating or give you its internal information. On the other hand, it doesn’t need torque enabled if you get your goal, so finally do TORQUE_DISABLE to prepare to the next sequence.

Since the Dynamixel has its own rotation range, it may shows malfunction if your request on your dynamixel is out of range. For example, Dynamixel MX-28 and Dynamixel PRO 54-200 has its rotatable range as 0 ~ 4028 and -250950 ~ 250950, each.

DXL_MOVING_STATUS_THRESHOLD acts as a criteria for verifying its rotation stopped.

// Initialize PortHandler Structs// Set the port path// Get methods and members of PortHandlerLinux or PortHandlerWindowsintport_num=dynamixel.portHandler(DEVICENAME);

portHandler() function sets port path as DEVICENAME and get port_num, and prepares an appropriate functions for port control in controller OS automatically. port_num would be used in many functions in the body of the code to specify the port for use.

groupBulkRead() function initializes grouped parameters used for packet construction and packet storing. The utility functions of bulk read deals simultaneously with more than one Dynamixel through #port_num port, building packets by the function which uses PROTOCOL_VERSION.

index variable points the direction to where the Dynamixel should be rotated.

dxl_comm_result indicates which error has been occurred during packet communication.

dxl_addparam_result indicates the result of parameter addition used for sync/bulk related functions

dxl_getdata_result indicates the result of data reception used for sync/bulk related functions

dxl_goal_position stores goal points of Dynamixel rotation.

dxl_error shows the internal error in Dynamixel.

dxl1_present_position views where now Dynamixel DXL1_ID points out.

dxl2_moving views whether the Dynamixel is stopped.

// Open portif(dynamixel.openPort(port_num)){Console.WriteLine("Succeeded to open the port!");}else{Console.WriteLine("Failed to open the port!");Console.WriteLine("Press any key to terminate...");Console.ReadKey();return;}

First, controller opens #port_num port to do serial communication with the Dynamixel. If it fails to open the port, the example will be terminated.

// Set port baudrateif(dynamixel.setBaudRate(port_num,BAUDRATE)){Console.WriteLine("Succeeded to change the baudrate!");}else{Console.WriteLine("Failed to change the baudrate!");Console.WriteLine("Press any key to terminate...");Console.ReadKey();return;}

Secondly, the controller sets the communication BAUDRATE at #port_num port opened previously.

As mentioned in the document, above code enables each Dynamixel`s torque to set their status as being ready to move.

write1ByteTxRx() function orders to the #DXL1_ID and #DXL2_ID Dynamixels in PROTOCOL_VERSION communication protocol through #port_num port, writing 1 byte of TORQUE_ENABLE value to ADDR_MX_TORQUE_ENABLE address. The function checks Tx/Rx result and receives Hardware error.
getLastTxRxResult() function and getLastRxPacketError() function get either, and then printTxRxResult() function and printRxPacketError() function show results on the console window if any communication error or Hardware error has been occurred.

During while() loop, the controller writes and reads each Dynamixel position or moving status through packet transmission/reception(Tx/Rx).

To continue their rotation, press any key except ESC.

write2ByteTxRx() function orders to the #DXL1_ID and #DXL2_ID Dynamixels in PROTOCOL_VERSION communication protocol through #port_num port, writing 2 byte of dxl_goal_position[index] value to ADDR_MX_GOAL_POSITION address. The function checks Tx/Rx result and receives Hardware error.
getLastTxRxResult() function and getLastRxPacketError() function get either, and then printTxRxResult() function and printRxPacketError() function show results on the console window if any communication error or Hardware error has been occurred.

groupBulkReadTxRxPacket() function orders to the Dynamixel #DXL1_ID and #DXL2_ID at the same time through #port_num port, making it possible to require data bytes from different address. (In this example, LEN_MX_PRESENT_POSITION bytes of the values to the address ADDR_MX_PRESENT_POSITION and LEN_MX_MOVING bytes of the values to the address ADDR_MX_MOVING, each.) The function checks Tx/Rx result.
getLastTxRxResult() function gets it, and then printTxRxResult() function shows result on the console window if any communication error has been occurred.

groupBulkReadIsAvailable() function checks if available data is in the groupbulkread data storage. The function returns false if no data is available in the storage.

write1ByteTxRx() function orders to the #DXL1_ID and #DXL2_ID Dynamixels in PROTOCOL_VERSION communication protocol through #port_num port, writing 1 byte of TORQUE_DISABLE value to ADDR_MX_TORQUE_ENABLE address. The function checks Tx/Rx result and receives Hardware error.
getLastTxRxResult() function and getLastRxPacketError() function get either, and then printTxRxResult() function and printRxPacketError() function show results on the console window if any communication error or Hardware error has been occurred.